Kurt Nalty / Mbed 2 deprecated ACC-FRDM-TFC

Austin Community College initial line follower program for Freescale car. This is based upon the FRDM-TFC code at mbed.org.

Dependencies:   mbed

Fork of FRDM-TFC by Eli Hughes

Austin Community College - Initial Specs for FRDM-TFC line following car.

This uses the fine library by ELI HUGHES.

Our goal here is to provide the simplest line-follower as a quick car checkout.

First, we limit the run duration for the car, so that you can catch it, if necessary. Right DIP switch (4) sets run time. 0 => 5 sec, 1 => 10 sec.

We provide simple speed selection with the other three DIP switches. I recommend 001 as the slowest real speed, (000 is stop, of course). DIP switches 1 2 3 make a 3 bit speed. 1 is msb, 3 is lsb

The car won't start until you press and release the driver's side PB. Left PB (TFC_PUSH_BUTTON_1) is permissive GO on release using left 3 DIPs for speed 0-7.

The car will stop when the passenger side PB is pressed. Right PB is STOP - TFC_PUSH_BUTTON_0

TFC_Ticker[3] is our run time counter. Like the Code Warrior edition, we use msec tickers.

Left (Driver side) trim pot 1 can be used to trim static steering servo Right trim pot 0 can be used to offset line camera

Back LED reflects drive motor status. The top three are not currently used.

main.cpp@4:8a4a3fc59e57, 2013-09-04 (annotated)

Committer:
redxeth
Date:
Wed Sep 04 02:48:20 2013 +0000
Revision:
4:8a4a3fc59e57
Parent:
3:23cce037011f
Child:
5:9d36b4c896e1
Made corrections to demo3 to parse linescandata in proper order.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emh203 3:23cce037011f 1 #include "mbed.h"
emh203 3:23cce037011f 2 #include "TFC.h"
emh203 3:23cce037011f 3
emh203 3:23cce037011f 4
emh203 3:23cce037011f 5 //This macro is to maintain compatibility with Codewarrior version of the sample. This version uses the MBED libraries for serial port access
emh203 3:23cce037011f 6 Serial PC(USBTX,USBRX);
emh203 3:23cce037011f 7
emh203 3:23cce037011f 8 #define TERMINAL_PRINTF PC.printf
emh203 3:23cce037011f 9
emh203 3:23cce037011f 10
emh203 3:23cce037011f 11 //This ticker code is used to maintain compability with the Codewarrior version of the sample. This code uses an MBED Ticker for background timing.
emh203 3:23cce037011f 12
emh203 3:23cce037011f 13 #define NUM_TFC_TICKERS 4
emh203 3:23cce037011f 14
emh203 3:23cce037011f 15 Ticker TFC_TickerObj;
emh203 3:23cce037011f 16
emh203 3:23cce037011f 17 volatile uint32_t TFC_Ticker[NUM_TFC_TICKERS];
emh203 3:23cce037011f 18
emh203 3:23cce037011f 19 void TFC_TickerUpdate()
emh203 3:23cce037011f 20 {
emh203 3:23cce037011f 21 int i;
emh203 3:23cce037011f 22
emh203 3:23cce037011f 23 for(i=0; i<NUM_TFC_TICKERS; i++)
emh203 3:23cce037011f 24 {
emh203 3:23cce037011f 25 if(TFC_Ticker[i]<0xFFFFFFFF)
emh203 3:23cce037011f 26 {
emh203 3:23cce037011f 27 TFC_Ticker[i]++;
emh203 3:23cce037011f 28 }
emh203 3:23cce037011f 29 }
emh203 3:23cce037011f 30 }
emh203 3:23cce037011f 31
emh203 3:23cce037011f 32
emh203 3:23cce037011f 33
emh203 3:23cce037011f 34
emh203 3:23cce037011f 35 int main()
emh203 3:23cce037011f 36 {
emh203 3:23cce037011f 37 uint32_t i,j,t = 0;
emh203 3:23cce037011f 38
emh203 3:23cce037011f 39 PC.baud(115200);
emh203 3:23cce037011f 40 TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
emh203 3:23cce037011f 41
emh203 3:23cce037011f 42 TFC_Init();
emh203 3:23cce037011f 43
emh203 3:23cce037011f 44 for(;;)
emh203 3:23cce037011f 45 {
emh203 3:23cce037011f 46 //TFC_Task must be called in your main loop. This keeps certain processing happy (I.E. Serial port queue check)
emh203 3:23cce037011f 47 // TFC_Task();
emh203 3:23cce037011f 48
emh203 3:23cce037011f 49 //This Demo program will look at the middle 2 switch to select one of 4 demo modes.
emh203 3:23cce037011f 50 //Let's look at the middle 2 switches
emh203 3:23cce037011f 51 switch((TFC_GetDIP_Switch()>>1)&0x03)
emh203 3:23cce037011f 52 {
emh203 3:23cce037011f 53 default:
emh203 3:23cce037011f 54 case 0 :
emh203 3:23cce037011f 55 //Demo mode 0 just tests the switches and LED's
emh203 3:23cce037011f 56 if(TFC_PUSH_BUTTON_0_PRESSED)
emh203 3:23cce037011f 57 TFC_BAT_LED0_ON;
emh203 3:23cce037011f 58 else
emh203 3:23cce037011f 59 TFC_BAT_LED0_OFF;
emh203 3:23cce037011f 60
emh203 3:23cce037011f 61 if(TFC_PUSH_BUTTON_1_PRESSED)
emh203 3:23cce037011f 62 TFC_BAT_LED3_ON;
emh203 3:23cce037011f 63 else
emh203 3:23cce037011f 64 TFC_BAT_LED3_OFF;
emh203 3:23cce037011f 65
emh203 3:23cce037011f 66
emh203 3:23cce037011f 67 if(TFC_GetDIP_Switch()&0x01)
emh203 3:23cce037011f 68 TFC_BAT_LED1_ON;
emh203 3:23cce037011f 69 else
emh203 3:23cce037011f 70 TFC_BAT_LED1_OFF;
emh203 3:23cce037011f 71
emh203 3:23cce037011f 72 if(TFC_GetDIP_Switch()&0x08)
emh203 3:23cce037011f 73 TFC_BAT_LED2_ON;
emh203 3:23cce037011f 74 else
emh203 3:23cce037011f 75 TFC_BAT_LED2_OFF;
emh203 3:23cce037011f 76
emh203 3:23cce037011f 77 break;
emh203 3:23cce037011f 78
emh203 3:23cce037011f 79 case 1:
emh203 3:23cce037011f 80
emh203 3:23cce037011f 81 //Demo mode 1 will just move the servos with the on-board potentiometers
emh203 3:23cce037011f 82 if(TFC_Ticker[0]>=20)
emh203 3:23cce037011f 83 {
emh203 3:23cce037011f 84 TFC_Ticker[0] = 0; //reset the Ticker
emh203 3:23cce037011f 85 //Every 20 mSeconds, update the Servos
emh203 3:23cce037011f 86 TFC_SetServo(0,TFC_ReadPot(0));
emh203 3:23cce037011f 87 TFC_SetServo(1,TFC_ReadPot(1));
emh203 3:23cce037011f 88 }
emh203 3:23cce037011f 89 //Let's put a pattern on the LEDs
emh203 3:23cce037011f 90 if(TFC_Ticker[1] >= 125)
emh203 3:23cce037011f 91 {
emh203 3:23cce037011f 92 TFC_Ticker[1] = 0;
emh203 3:23cce037011f 93 t++;
emh203 3:23cce037011f 94 if(t>4)
emh203 3:23cce037011f 95 {
emh203 3:23cce037011f 96 t=0;
emh203 3:23cce037011f 97 }
emh203 3:23cce037011f 98 TFC_SetBatteryLED_Level(t);
emh203 3:23cce037011f 99 }
emh203 3:23cce037011f 100
emh203 3:23cce037011f 101 TFC_SetMotorPWM(0,0); //Make sure motors are off
emh203 3:23cce037011f 102 TFC_HBRIDGE_DISABLE;
emh203 3:23cce037011f 103
emh203 3:23cce037011f 104
emh203 3:23cce037011f 105 break;
emh203 3:23cce037011f 106
emh203 3:23cce037011f 107 case 2 :
emh203 3:23cce037011f 108
emh203 3:23cce037011f 109 //Demo Mode 2 will use the Pots to make the motors move
emh203 3:23cce037011f 110 TFC_HBRIDGE_ENABLE;
emh203 3:23cce037011f 111
emh203 3:23cce037011f 112 TFC_SetMotorPWM(TFC_ReadPot(0),TFC_ReadPot(1));
emh203 3:23cce037011f 113
emh203 3:23cce037011f 114
emh203 3:23cce037011f 115 //Let's put a pattern on the LEDs
emh203 3:23cce037011f 116 if(TFC_Ticker[1] >= 125)
emh203 3:23cce037011f 117 {
emh203 3:23cce037011f 118 TFC_Ticker[1] = 0;
emh203 3:23cce037011f 119 t++;
emh203 3:23cce037011f 120 if(t>4)
emh203 3:23cce037011f 121 {
emh203 3:23cce037011f 122 t=0;
emh203 3:23cce037011f 123 }
emh203 3:23cce037011f 124 TFC_SetBatteryLED_Level(t);
emh203 3:23cce037011f 125 }
emh203 3:23cce037011f 126 break;
emh203 3:23cce037011f 127
emh203 3:23cce037011f 128 case 3 :
emh203 3:23cce037011f 129
redxeth 4:8a4a3fc59e57 130 uint32_t NumCameras = 1; // Enter here how many line scan cameras hooked up
redxeth 4:8a4a3fc59e57 131
emh203 3:23cce037011f 132 //Demo Mode 3 will be in Freescale Garage Mode. It will beam data from the Camera to the
emh203 3:23cce037011f 133 //Labview Application
emh203 3:23cce037011f 134
redxeth 4:8a4a3fc59e57 135
emh203 3:23cce037011f 136 if(TFC_Ticker[0]>1000 && TFC_LineScanImageReady>0)
emh203 3:23cce037011f 137 {
emh203 3:23cce037011f 138 TFC_Ticker[0] = 0;
emh203 3:23cce037011f 139 TFC_LineScanImageReady=0;
emh203 3:23cce037011f 140 TERMINAL_PRINTF("\r\n");
emh203 3:23cce037011f 141 TERMINAL_PRINTF("L:");
emh203 3:23cce037011f 142
emh203 3:23cce037011f 143 if(t==0)
emh203 3:23cce037011f 144 t=4;
emh203 3:23cce037011f 145 else
emh203 3:23cce037011f 146 t--;
emh203 3:23cce037011f 147
emh203 3:23cce037011f 148 TFC_SetBatteryLED_Level(t);
emh203 3:23cce037011f 149
redxeth 4:8a4a3fc59e57 150 // camera 1
emh203 3:23cce037011f 151 for(i=0;i<8;i++)
emh203 3:23cce037011f 152 {
emh203 3:23cce037011f 153 for(j=0;j<16;j++)
emh203 3:23cce037011f 154 {
redxeth 4:8a4a3fc59e57 155 TERMINAL_PRINTF("%X",TFC_LineScanImage0[(i*16)+j]);
redxeth 4:8a4a3fc59e57 156
redxeth 4:8a4a3fc59e57 157 if (NumCameras == 1)
redxeth 4:8a4a3fc59e57 158 {
redxeth 4:8a4a3fc59e57 159 if((i==7)&&(j==15))
redxeth 4:8a4a3fc59e57 160 TERMINAL_PRINTF("\r\n",TFC_LineScanImage0[(i*16)+j]);
redxeth 4:8a4a3fc59e57 161 else
redxeth 4:8a4a3fc59e57 162 TERMINAL_PRINTF(",",TFC_LineScanImage0[(i*16)+j]);
redxeth 4:8a4a3fc59e57 163 }
redxeth 4:8a4a3fc59e57 164
emh203 3:23cce037011f 165 }
emh203 3:23cce037011f 166 wait_ms(10);
emh203 3:23cce037011f 167 }
redxeth 4:8a4a3fc59e57 168
redxeth 4:8a4a3fc59e57 169 // camera 2
redxeth 4:8a4a3fc59e57 170 if (NumCameras == 2)
redxeth 4:8a4a3fc59e57 171 {
redxeth 4:8a4a3fc59e57 172 for(i=0;i<8;i++)
redxeth 4:8a4a3fc59e57 173 {
redxeth 4:8a4a3fc59e57 174 for(j=0;j<16;j++)
emh203 3:23cce037011f 175 {
redxeth 4:8a4a3fc59e57 176 TERMINAL_PRINTF("%X",TFC_LineScanImage1[(i*16)+j]);
emh203 3:23cce037011f 177
redxeth 4:8a4a3fc59e57 178 if((i==7)&&(j==15))
redxeth 4:8a4a3fc59e57 179 TERMINAL_PRINTF("\r\n",TFC_LineScanImage1[(i*16)+j]);
redxeth 4:8a4a3fc59e57 180 else
redxeth 4:8a4a3fc59e57 181 TERMINAL_PRINTF(",",TFC_LineScanImage1[(i*16)+j]);
redxeth 4:8a4a3fc59e57 182 }
redxeth 4:8a4a3fc59e57 183 wait_ms(10);
redxeth 4:8a4a3fc59e57 184 }
redxeth 4:8a4a3fc59e57 185 }
emh203 3:23cce037011f 186
emh203 3:23cce037011f 187 }
emh203 3:23cce037011f 188
emh203 3:23cce037011f 189
emh203 3:23cce037011f 190
emh203 3:23cce037011f 191 break;
emh203 3:23cce037011f 192 }
emh203 3:23cce037011f 193 }
emh203 3:23cce037011f 194
emh203 3:23cce037011f 195
emh203 3:23cce037011f 196 }
emh203 3:23cce037011f 197